Jekyll2023-10-17T14:09:46-07:00https://ywang-robotics.github.io/feed.xmlYuquan WANGRobotist, Control engineer, and Programmer.Yuquan Wangy.wang.robotics@gmail.comIJRR paper publicly available: Impact-Aware Task-Space Quadratic-Programming Control2023-10-15T00:00:00-07:002023-10-15T00:00:00-07:00https://ywang-robotics.github.io/posts/2023/10/ijrr<p>Excited to share our recently published paper in the International Journal of Robotics Research (IJRR): “Impact-Aware Task-Space Quadratic Programming”: <a href="https://doi.org/10.1177/02783649231198558">https://doi.org/10.1177/02783649231198558</a></p>
<p>This work extends optimization-based reactive controllers by seamlessly integrating frictional impact mechanics in three dimensions alongside generic inequality constraints to handle impact-induced state jumps.</p>
<p>Being aware of the post-impact states, our HRP-4 humanoid achieved swift bi-manual pick-and-place operations, demonstrating remarkable agility: <a href="https://youtu.be/78xPQ_7qM4I?feature=shared">https://youtu.be/78xPQ_7qM4I?feature=shared</a></p>
<p>Special thanks to my colleagues Abderrahmane Kheddar, Arnaud TANGUY, and Niels Dehio, and our project coordinator Alessandro Saccon at TU Eindhoven.</p>Yuquan Wangy.wang.robotics@gmail.comOnline poster presentation: Impact-Aware Task-Space Quadratic-Programming Control2023-07-11T00:00:00-07:002023-07-11T00:00:00-07:00https://ywang-robotics.github.io/posts/2023/07/workshop<p>Thanks to the excellent organization by the <strong>IEEE Technical Committee on Model-Based Optimization for Robotics</strong>, we had the opportunity to present the following poster at the <a href="https://www.tcoptrob.org/news/2023-07-07/">TC Poster Session and Networking Event 2023</a> based on our recently-accepted IJRR paper with the same title.</p>
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<li><a href="https://www.canva.com/design/DAFoLKH32-Q/watch">Please click here to view the interactive Canva poster</a></li>
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<iframe src="/files/TC-poster-YW-compressed.pdf" width="100%" height="600px"></iframe>Yuquan Wangy.wang.robotics@gmail.comIROS 2023 workshop Accepted: Reactive and Predictive Humanoid Whole-body Control2023-05-02T00:00:00-07:002023-05-02T00:00:00-07:00https://ywang-robotics.github.io/posts/2023/05/workshop<p>Dear colleagues and friends,</p>
<p>We are thrilled to announce that our workshop <a href="https://iros-2023-humanoid.github.io/">Reactive and Predictive Humanoid Whole-body Control</a> has been accepted by IROS-2023! Out of 99 submissions, our proposal was selected as one of the 48 to be included in the conference. The organizing committee will notify us of the exact date soon, which will either be on October 1st or 5th, 2023, depending on the topic balance.</p>
<p>It is our great pleasure to invite <a href="https://iros-2023-humanoid.github.io/speaker-archive/">experts</a> in MPC, state estimation, whole-body control, learning and planning to present their latest findings and discuss the future research opportunities.</p>
<p>Please stay tuned for more information, and we look forward to your participation!</p>
<p>Yuquan</p>Yuquan Wangy.wang.robotics@gmail.comOur full-day workshop has been selected for IROS 2023 at Huntington Place in Detroit, Michigan, USASoftware release: (floating-base) robot kinematics and dynamics2022-07-27T00:00:00-07:002022-07-27T00:00:00-07:00https://ywang-robotics.github.io/posts/2022/07/software<p>It is our great pleasure to opensource the library <strong>GeometricRobotics</strong>, which is an opensource C++ implementation of the robot kinematics and dynamics.</p>
<p><strong>Repository</strong>: <a href="https://gite.lirmm.fr/yuquan/geometricrobotics">https://gite.lirmm.fr/yuquan/geometricrobotics</a></p>
<p>We strictly followed the <strong>geometric approach</strong> according to the textbook [1] and we also selected pearls from the textbook [2] to extend to the floating-base robots.</p>
<p>The reasons that motivated us to develop the software are the follows:</p>
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<p>It simplifies the transforms between coordinate frames, e.g., <em>wrench</em>, <em>velocity</em>, and <em>inertia</em>.</p>
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<p>It provides unique computations for robotic manipulators, e.g., the Coriolis matrix and the derivative of the joint-space inertia matrix.</p>
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<p>Tested for numerous robots:</p>
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<td><img src="/images/hrp4-1.png" alt="HRP4 humanoid robot" width="130" /></td>
<td><img src="/images/panda.png" alt="Panda Manipulator" width="130" /></td>
<td><img src="/images/anymal.png" alt="Anymal quadruped robotg" width="130" /></td>
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<p>Most of the computations are unit-tested against other libraries or numerical computations. We hope <strong>GeometricRobotics</strong> would be your best friend during the journey of scientific research. Please clone, install, and try out. Should you have issues, let us discuss and address them together!</p>
<p>[1] <em>Murray, Richard M., Zexiang Li, and S. Shankar Sastry. A mathematical introduction to robotic manipulation. CRC press, 2017.</em></p>
<p>[2] <em>Featherstone, Roy. “Spatial vector algebra.” Rigid body dynamics algorithms. Springer, Boston, MA, 2008.</em></p>Yuquan Wangy.wang.robotics@gmail.comFollowing the geometric approach, our implementation features efficient C++ code and provides analytical gradients. Please feel free to give it a try!ICRA 2021 workshop: High dynamic motion generation for under-actuated robots2021-05-26T00:00:00-07:002021-05-26T00:00:00-07:00https://ywang-robotics.github.io/posts/2021/05/workshop<p>We are organizing the <a href="https://impact-aware-robotics.github.io">the workshop</a> on June 4th via: <a href="https://umontpellier-fr.zoom.us/u/kejV1fMUVz">https://umontpellier-fr.zoom.us/u/kejV1fMUVz</a>.
The program is available in <a href="https://impact-aware-robotics.github.io/program-cest/">CEST time</a>, <a href="https://impact-aware-robotics.github.io/program-pdt/">PDT time</a>, and <a href="https://impact-aware-robotics.github.io/program/">GMT +8 time</a>.
The detailed invitation information is below:</p>
<div class="language-sh highlighter-rouge"><div class="highlight"><pre class="highlight"><code>Yuquan Wang is inviting you to a scheduled Zoom meeting.
Topic: ICRA 2021 Workshop: High Dynamic Motion Generation <span class="k">for </span>Under-Actuated Robots
Time: Jun 4, 2021 03:00 AM Paris
Join Zoom Meeting
https://umontpellier-fr.zoom.us/j/5474362328
Meeting ID: 547 436 2328
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Meeting ID: 547 436 2328
</code></pre></div></div>Yuquan Wangy.wang.robotics@gmail.comOn June 4th, we will organize the workshop from 09:00am to 05:00pm in time zone: GMT +8.C++ Implementation of Analytical Frictional Impact Dynamics Model2020-08-31T00:00:00-07:002020-08-31T00:00:00-07:00https://ywang-robotics.github.io/posts/2020/08/blog-post-1<p>I published my C++ implementaion of frictional impact dynamics model <a href="https://gite.lirmm.fr/yuquan/fidynamics">FIDynamics</a> presented in the paper <a href="https://journals.sagepub.com/doi/pdf/10.1177/0278364918817116"> Batting an In-Flight Object to the Target</a> by Professor <a href="http://web.cs.iastate.edu/~jia/">Jia Yan-bin</a> and <a href="https://www.cs.iastate.edu/people/xiaoqian-mu-0">Mu Xiaoqian</a>. Using Figure 3.(b-f) of the paper, we made a few <a href="https://gite.lirmm.fr/yuquan/fidynamics/-/blob/master/unittest/ijrr_example/eclipsePentagonExample.cpp">test-examples</a> to show the <a href="http://yuquan.lirmm.net/fidynamics">FIDynamics API</a> usage.</p>
<p>FIDynamics assumes Stronge’s energetic coefficient of restitution and computes the impulse and post-impact states analytically. The average computation time is between 0.15-0.2ms which is fast enough to be used in real-time control.</p>
<p>Performance-wise, compared to the state-of-the-art impact dynamics model, e.g., Section 11.7 of the book: Rigid body dynamics algorithms by Roy Featherstone, FIDynamics is able to predict the post-impact contact modes, computes the post-impact tangential impulse, and post-impact angular velocity.</p>Yuquan Wangy.wang.robotics@gmail.comThis is the first **frictional** impact model in **three dimensions** developed for robot applications. As an illustration, the figure below shows the moments corresponding to (1) the initial state, (2) the end of compression, and (3) the end of restitution during the impulse evolution.I defended my PhD2016-03-26T00:00:00-07:002016-03-26T00:00:00-07:00https://ywang-robotics.github.io/posts/2016/03/blog-post-1<!--
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